#ifndef _PLANNERCORE_H
#define _PLANNERCORE_H
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 *
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 * Author: Eitan Marder-Eppstein
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#define POT_HIGH 1.0e10        // unassigned cell potential

#include <ros/ros.h>
#include <costmap_2d/costmap_2d.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Point.h>
#include <nav_msgs/Path.h>
#include <vector>
#include <nav_core/base_global_planner.h>
#include <nav_msgs/GetPlan.h>
#include <dynamic_reconfigure/server.h>
#include <global_planner/potential_calculator.h>
#include <global_planner/expander.h>
#include <global_planner/traceback.h>
#include <global_planner/orientation_filter.h>
#include <global_planner/GlobalPlannerConfig.h>

namespace global_planner
{

class Expander;

class GridPath;

/**
* @class PlannerCore 给全局路径规划器提供了封装类
* @brief Provides a ROS wrapper for the global_planner planner which runs a fast, interpolated navigation function on a costmap.
*/

class GlobalPlanner : public nav_core::BaseGlobalPlanner
{
public:
    /**
     * @brief  Default constructor for the PlannerCore object
     */
    GlobalPlanner();

    /**
     * @brief  Constructor for the PlannerCore object
     * @param  name The name of this planner 全局规划器名字
     * @param  costmap A pointer to the costmap to use 代价地图的指针
     * @param  frame_id Frame of the costmap 代价地图的坐标系
     */
    GlobalPlanner(std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id);

    /**
     * @brief  Default deconstructor for the PlannerCore object
     */
    ~GlobalPlanner();

    /**
     * @brief  Initialization function for the PlannerCore object 对象的初始化函数
     * @param  name The name of this planner 全局规划器名字
     * @param  costmap_ros A pointer to the ROS wrapper of the costmap to use for planning 代价地图ros封装类的指针
     */
    void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros);

    // 算法实例的选取
    void initialize(std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id);

    /**
     * @brief Given a goal pose in the world, compute a plan 根据目标点规划处全局路径
     * @param start The start pose 起始位姿
     * @param goal The goal pose 目标位姿
     * @param plan The plan... filled by the planner 全局规划路径
     * @return True if a valid plan was found, false otherwise 找到全局路径
     */
    bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal,
                  std::vector<geometry_msgs::PoseStamped> &plan);

    /**
     * @brief Given a goal pose in the world, compute a plan 根据目标点规划处全局路径
     * @param start The start pose 起始位姿
     * @param goal The goal pose 目标位姿
     * @param tolerance The tolerance on the goal point for the planner 全局规划的误差范围
     * @param plan The plan... filled by the planner 全局规划路径
     * @return True if a valid plan was found, false otherwise 找到全局路径
     */
    bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance,
                  std::vector<geometry_msgs::PoseStamped> &plan);

    /**
     * @brief  Computes the full navigation function for the map given a point in the world to start from
     * @param world_point The point to use for seeding the navigation function
     * @return True if the navigation function was computed successfully, false otherwise
     */
    bool computePotential(const geometry_msgs::Point &world_point);

    /** 在一个起点的潜能已经被计算出来之后，计算一个目标的计划(注意:你应该先调用computePotential)
     * @brief Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first)
     * @param start_x
     * @param start_y
     * @param end_x
     * @param end_y
     * @param goal The goal pose to create a plan to
     * @param plan The plan... filled by the planner
     * @return True if a valid plan was found, false otherwise
     */
    bool getPlanFromPotential(double start_x, double start_y, double end_x, double end_y,
                              const geometry_msgs::PoseStamped &goal,
                              std::vector<geometry_msgs::PoseStamped> &plan);

    /**
     * @brief Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first)
     * @param world_point The point to get the potential for
     * @return The navigation function's value at that point in the world
     */
    double getPointPotential(const geometry_msgs::Point &world_point);

    /**
     * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first)
     * @param world_point The point to get the potential for
     * @return True if the navigation function is valid at that point in the world, false otherwise
     */
    bool validPointPotential(const geometry_msgs::Point &world_point);

    /**
     * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first)
     * @param world_point The point to get the potential for
     * @param tolerance The tolerance on searching around the world_point specified
     * @return True if the navigation function is valid at that point in the world, false otherwise
     */
    bool validPointPotential(const geometry_msgs::Point &world_point, double tolerance);

    /**
     * @brief  Publish a path for visualization purposes 发布路径信息，用于可视化
     */
    void publishPlan(const std::vector<geometry_msgs::PoseStamped> &path);

    bool makePlanService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp);

protected:

    /**
     * @brief Store a copy of the current costmap in \a costmap.  Called by makePlan. 拷贝了一份当前代价地图，会被makePlan调用
     */
    costmap_2d::Costmap2D *costmap_;
    std::string frame_id_;
    ros::Publisher plan_pub_;
    bool initialized_, allow_unknown_;

private:
    void mapToWorld(double mx, double my, double &wx, double &wy);

    bool worldToMap(double wx, double wy, double &mx, double &my);

    void clearRobotCell(unsigned int mx, unsigned int my);

    void publishPotential(float *potential);

    double planner_window_x_, planner_window_y_, default_tolerance_;
    boost::mutex mutex_;
    ros::ServiceServer make_plan_srv_;

    PotentialCalculator *p_calc_;
    Expander *planner_;
    Traceback *path_maker_;
    OrientationFilter *orientation_filter_;

    bool publish_potential_;
    ros::Publisher potential_pub_;
    int publish_scale_;

    void outlineMap(unsigned char *costarr, int nx, int ny, unsigned char value);

    float *potential_array_; // 可行点矩阵
    unsigned int start_x_, start_y_, end_x_, end_y_;

    bool old_navfn_behavior_;
    float convert_offset_;

    bool outline_map_;

    dynamic_reconfigure::Server<global_planner::GlobalPlannerConfig> *dsrv_;

    void reconfigureCB(global_planner::GlobalPlannerConfig &config, uint32_t level);

};

} //end namespace global_planner

#endif
